CN110104036B - Tramcar simulation operation system and tramcar simulation operation method - Google Patents
Tramcar simulation operation system and tramcar simulation operation method Download PDFInfo
- Publication number
- CN110104036B CN110104036B CN201910366433.1A CN201910366433A CN110104036B CN 110104036 B CN110104036 B CN 110104036B CN 201910366433 A CN201910366433 A CN 201910366433A CN 110104036 B CN110104036 B CN 110104036B
- Authority
- CN
- China
- Prior art keywords
- model
- tramcar
- simulation
- simulation operation
- group
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/60—Testing or simulation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24024—Safety, surveillance
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention provides a tramcar simulation operation system and a tramcar simulation operation method, wherein the tramcar simulation operation system comprises a solid model group, a sensor group, an upper computer and a lower computer; the tramcar simulation operation method uses the tramcar simulation operation system to carry out simulation operation on the tramcar; the simulation operation method comprises the steps of reading and displaying a preset tramcar simulation operation model; changing the running state of the tramcar solid model on the track solid model according to the running setting parameter data, and simultaneously changing the running state of the tramcar simulation model on the track simulation model according to the running setting parameter data; generating and displaying a simulation operation chart group according to a real-time tramcar simulation operation model; and acquiring monitoring data sets of a plurality of time points, and generating and displaying a monitoring data table according to the monitoring data sets. The tramcar simulation operation method can simulate various conditions in the running process of a train and obtain solutions of various problems in advance.
Description
Technical Field
The invention relates to the technical field of tramcar operation monitoring, in particular to a tramcar simulation operation system and a tramcar simulation operation method.
Background
The conventional tramcar operation monitoring system comprises a driving command system, an intersection control system, a turnout controller and an active protection unit, wherein the driving command system, the intersection control system and the turnout controller are connected with corresponding public network communication units respectively, the public network communication units are communicated in a wireless mode, and the active protection unit is arranged in a cab of the tramcar and used for identifying obstacles of the tramcar and measuring the distance between the tramcar and the obstacles.
The existing tramcar operation monitoring system has the problems that the distance between a train and a barrier in the running process of the train is only monitored, the distance between the train and each station cannot be monitored, the departure time and the number of the train in each time period cannot be effectively controlled, problems possibly encountered in the running of the train cannot be simulated in advance, and the problems are delayed in handling and processing.
Disclosure of Invention
A first object of the present invention is to provide a tram simulation operation system capable of simulating a train operation problem in advance. A second object of the present invention is to provide a tram simulation running method capable of simulating a train running problem in advance. The tramcar simulation operation system provided by the first purpose of the invention comprises an entity model group, a sensor group, an upper computer and a lower computer, wherein the entity model group comprises a track entity model and a tramcar entity model; the sensor group comprises a first voltage sensor, a first current sensor, a temperature sensor and a humidity sensor which are arranged on a tramcar solid model, a second voltage sensor, a second current sensor and a correlation photoelectric sensor which are arranged on a track solid model, and a plurality of pairs of correlation photoelectric sensors are arranged on the track solid model along the extending direction of the track solid model. The lower computer acquires the acquired data from the sensor group and generates a monitoring data group, and the upper computer acquires the detection data group from the lower computer through a wireless network.
According to the scheme, the arrangement position of the sensor on the tramcar solid model can be changed according to the actual route condition, and the method is convenient and effective; the method comprises the steps that operation setting parameter data are set in a system interface and started, a tram physical model runs on the track physical model according to the set data, meanwhile, a simulation running chart set and a monitoring data table corresponding to the running state of the tram physical model are generated on the interface, so that the running state of a train is monitored visually, the operation setting parameter data comprise various speed data, monitoring point positions, traffic light positions, stations, the number of stations and the like, various running states of the train can be simulated, and solutions of various problems are obtained in advance.
The further proposal is that the track solid model is in a shape of a surrounding runway.
Therefore, the arrangement can reduce the floor area of the track solid model and does not influence the simulation operation effect.
The tramcar simulation operation method provided by the second object of the invention is characterized in that the tramcar simulation operation system is used for carrying out simulation operation on the tramcar; the simulation operation method comprises a model reading step, wherein a preset tramcar simulation operation model is read and displayed; the method comprises the following steps of simulating operation, namely changing the operation state of a tramcar entity model in an entity model group on a track entity model according to operation setting parameter data obtained from an interactive window, and changing the operation state of a tramcar simulation model in a tramcar simulation operation model on the track simulation model according to the operation setting parameter data; a graph group display step, namely generating and displaying a simulation operation graph group according to a real-time tramcar simulation operation model; and a data table display step of generating and displaying the monitoring data table according to the acquired plurality of monitoring data sets while executing the graph set display step.
According to the scheme, after the operation setting parameter data is set in a system interface and started, the tramcar solid model runs on the track solid model according to the set data, and meanwhile, the interface generates a simulation running chart group and a monitoring data table corresponding to the running state of the tramcar solid model, so that the running condition of a train is monitored visually; different pre-stored tramcar simulation operation models can be selected according to actual requirements, operation setting parameter data comprise various speed data, monitoring point positions, traffic light positions, stations, station number and the like, various conditions of the train in running can be simulated, and solutions of various problems can be obtained in advance.
The further scheme is that a model presetting step is also included before the model reading step; and in the step of presetting the model, generating a tramcar simulated operation model according to the model setting parameter data acquired from the interactive window, and storing the tramcar simulated operation model.
According to a further scheme, the model setting parameter data comprises station setting parameter data, power supply interval setting parameter data, monitoring point setting parameter data, traffic light setting parameter data and train setting parameter data.
Therefore, before the simulation operation, the route factors such as the sites, the monitoring points, the traffic lights and the like in the actual line can be preset or changed, so that the matching degree of the simulation operation and the accuracy of the simulation result are improved.
In the step of displaying the diagram group, the simulation operation diagram group comprises a logic circuit diagram; and generating a logic circuit diagram according to the tramcar simulation operation model and the acquired geographic position data.
Therefore, the route in the logic route map is the same as the actual route, and the position and the condition of the train walking on the actual track can be reflected more intuitively.
In the step of displaying the graph group, the simulation operation graph group comprises a circulation route map, and the route of the circulation route map is in a shape of a surrounding runway.
Therefore, the running condition of the train in the circulation route diagram is consistent with that of the entity model group, and the entity model group is conveniently monitored and debugged.
The method further comprises the step of displaying a prestored station point diagram in the diagram group displaying step, judging whether the correlation photoelectric sensor acquires a station arrival induction signal of the tramcar entity model, and if so, displaying station arrival reminding information on the station point diagram according to the station arrival induction signal.
From the above, the station diagram can be used for prompting the condition that the train is about to arrive at the station.
The further scheme is that a plurality of site names and graphic symbols corresponding to each site name are displayed in the site map, and the arrival reminding information is the color value change of the graphic symbols.
In the simulation operation step, the operation setting parameter data comprises speed data, starting time data, starting delay data and acceleration and deceleration time data.
Therefore, the setting of a plurality of parameters related to the speed can more carefully regulate and control the running state of each position of the train on the line, and the simulation degree is deepened.
Drawings
Fig. 1 is a connection block diagram of an embodiment of the tramcar simulation operation system of the invention.
Fig. 2 is a schematic structural diagram of a solid model group in an embodiment of the tramcar simulation operation system of the invention.
Fig. 3 is a block flow diagram of an embodiment of a tramcar simulation operation method according to the present invention.
Fig. 4 is a schematic view of a stop diagram in an embodiment of the tram simulation operation method.
Detailed Description
Referring to fig. 1 and fig. 2, fig. 1 is a connection block diagram of an embodiment of a tram simulation operation system according to the present invention, and fig. 2 is a schematic structural diagram of a solid model group in the embodiment of the tram simulation operation system according to the present invention. The tramcar simulation operation system comprises a solid model group 1, a sensor group 2, an upper computer 3 and a lower computer 4. The physical model group 1 comprises a track physical model 11 and a tramcar physical model 12, and the sensor group 2 comprises a first voltage sensor, a first current sensor, a temperature sensor and a humidity sensor which are arranged on the tramcar physical model 12, and a second voltage sensor, a second current sensor and a correlation photoelectric sensor which are arranged on the track physical model 11.
The upper computer 3 is a computer with data processing capacity, the lower computer is an STM32 single-chip microcomputer, the track solid model 11 and the tramcar solid model 12 are connected with the upper computer 3 through a wireless network, a plurality of sensors in the sensor group 2 are connected to the lower computer 4, and the lower computer 4 is connected with the upper computer 3 through a wireless network. The lower computer 4 acquires the collected data from the sensor group 2 and generates a monitoring data group, and the upper computer 3 acquires the detection data group from the lower computer 4 through a wireless network.
The track solid model 11 is in a shape of surrounding a runway, the track solid model 11 is provided with an outer track model 101 and an inner track model 102 which are positioned at the periphery, when the correlation photoelectric sensors are arranged on the track solid model 11, a pair of correlation photoelectric sensors are respectively arranged on the outer track model 101 and the inner track model 102, and the setting distances between the plurality of pairs of correlation photoelectric sensors can be adjusted according to traffic lights, power supply intervals, stop stations and the like on the actual route which is simulated as required. As shown in fig. 2, the track solid model 11 has a trolley-bus power supply section 111, a stop 22 and a traffic light 23, one end of the power supply section 111 has a monitoring point 21, and the track solid model 11 is provided with a correlation photoelectric sensor at each of the monitoring point 21, the stop 22 and the traffic light 23.
A temperature sensor and a humidity sensor are arranged in each tramcar solid model, and a first voltage sensor and a first current sensor are arranged on one carriage model unit.
Referring to fig. 3, fig. 3 is a block diagram of a flow chart of a tramcar simulation operation method according to the present invention. First, the system executes step S1 to obtain the selected data of the tram simulation operation model from the interactive window. The user can select the existing tramcar simulation operation model related to the actual line in a selection window in the monitoring software interface, or the stored tramcar simulation operation model is linked to the folder through a click command, and further a program file of the tramcar simulation operation model in the folder is selected. Then, step S2 is executed to obtain the operation setting parameter data from the interactive window. The interface of the monitoring software is provided with an operation setting parameter data setting panel, and a plurality of pull-down selection fields or input fields of operation setting parameter data are arranged on the operation setting parameter data setting panel.
The tram simulation operation model comprises a track simulation model and a tram simulation model. The operation setting parameter data comprises the number of traffic lights, the number of stations, the number of trains, the number of carriages, the number of power supply intervals and the like related to the track simulation model, speed data, starting time data, starting delay data, acceleration and deceleration time data and the like related to the tramcar simulation model, the number of passengers related to the passengers, the number of passengers getting on and off at each station and the like.
Preferably, after the tram simulation operation model is selected in step S1, the track simulation model may be displayed in advance in the interface, and then parameters such as the number of traffic lights, the number of stop stations, the number of trains, the number of carriages, the number of power supply sections, and the like are filled in the operation setting parameter data setting panel, and then the positions and the intervals of the traffic lights, the stop stations, and the power supply sections may be set and adjusted on the pre-displayed track simulation model. Further, it is preferable that after the plurality of pairs of photoelectric sensors are provided on the track solid model 11, positions of the plurality of pairs of photoelectric sensors are displayed on the pre-displayed tram simulation operation model. Steps S1 and S2 are preset model steps.
After the operation setting parameter data is set and the 'confirmation' virtual key is clicked, the system updates and maintains the tramcar simulation operation model according to the operation setting parameter data. The system then executes a read model step S3, loads the tram simulation run model saved after steps S1 and S2, and displays the complete tram simulation run model in the interface. And then, after the user clicks the virtual key of 'simulation operation', the system executes a simulation operation step S4, namely, the tramcar physical model is driven to operate on the track physical model according to the operation setting parameter data, and the tramcar simulation model in the interface operates on the track simulation model according to the operation setting parameter data.
Then the system executes step S5 to generate and display a simulation operation chart set and a monitoring data table according to the operation state and the operation setting parameter data on the tramcar physical model orbit physical model. The simulation run map set comprises a logic route map, a circulation route map and a prestored station point map. The system generates a logic circuit diagram according to the tramcar simulation operation model and the acquired geographic position data, wherein the logic circuit diagram is consistent with an actual geographic circuit extending mode; the circulating route map is a circulating route map matched with the entity model group and the tramcar simulation operation model, a plurality of traffic lights, stop stations, power supply intervals, monitoring points and the like are arranged on the track simulation model on the circulating route map, and the tramcar simulation model walks on the track simulation model.
Referring to fig. 4, fig. 4 is a schematic view of a stop diagram in an embodiment of the tram simulation operation method according to the present invention. The interface is provided with a site diagram area 9, a plurality of site names 91 are arranged in the first direction in the site diagram area 9, the site names 91 correspond to the site names in the tram simulation operation model, the upper side and the lower side of each site name 91 are respectively provided with a circular symbol 92 and a circular symbol 93, the circular symbols 92 are arranged in the first direction, and the circular symbols 93 are arranged in the first direction.
In the track physical model, the station is actually a correlation photoelectric sensor, when the tram physical model reaches the station, the system judges that the correlation photoelectric sensor obtains the arrival sensing signal of the tram physical model, and in the station map area 9, the circular symbol 92 or the circular symbol 93 corresponding to the station name 91 corresponding to the station changes color, so that the arrival reminding information is obtained. The running direction of the tramcar solid model can be judged by acquiring two arrival induction signals, so that the color of the circular symbol 92 or the color of the circular symbol 93 can be changed selectively.
Preferably, in the track solid model, a correlation photoelectric sensor is further arranged between two adjacent "stations", an additional circular symbol 94 is further arranged between two adjacent circular symbols 92 and an additional circular symbol 95 is further arranged between two adjacent circular symbols 93 on the station map area 9, and when the tram solid model reaches the correlation photoelectric sensor between two adjacent "stations", the circular symbol 94 or the circular symbol 95 changes color, thereby becoming the en-route warning message. The monitoring data table includes, in addition to each monitoring data in the operation setting parameter data at each time point, monitoring data such as real-time speed of the electric train, estimated time for the electric train to reach the next station, and station stop time calculated from data of the number of passengers getting on or off the station. Preferably, the system is pre-stored with a threshold data set, and if the value of a certain item of monitoring data exceeds the standard value of the corresponding item of monitoring data in the threshold data set, in the monitoring data table, the window in which the item of monitoring data is located changes the filling color to generate reminding and warning effects, and further warning can be performed by popping up a reminding window.
The running condition of the train can be visually monitored by combining the generated simulated running chart set and the monitoring data table, different preset tramcar simulated running models can be selected in software according to actual requirements, running setting parameter data comprise various speed data, monitoring point positions, traffic light positions, station numbers, station number numbers and the like, various conditions of the train in running can be simulated, and solutions of various problems can be obtained in advance.
Finally, it should be emphasized that the above-described embodiments are merely preferred examples of the present invention, which is not intended to limit the invention, and that various changes and modifications may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The tramcar simulation operation method is characterized by comprising the following steps:
adopting a tramcar simulation operation system to carry out tramcar simulation operation;
the tram simulation operation system includes:
the entity model group comprises a track entity model and a tramcar entity model;
the sensor group comprises a first voltage sensor, a first current sensor, a temperature sensor and a humidity sensor which are arranged on the tramcar solid model, the sensor group also comprises a second voltage sensor, a second current sensor and a correlation photoelectric sensor which are arranged on the track solid model, and a plurality of pairs of the correlation photoelectric sensors are arranged on the track solid model along the extending direction of the track solid model;
the lower computer acquires the collected data from the sensor group and generates a monitoring data group, and the upper computer acquires the monitoring data group from the lower computer through a wireless network;
the tramcar simulation operation method comprises the following steps:
reading a model, namely reading and displaying a preset tramcar simulation operation model;
a simulation operation step, namely changing the operation state of the tramcar entity model in the entity model group on the track entity model according to operation setting parameter data obtained from an interactive window, and simultaneously changing the operation state of the tramcar simulation model in the tramcar simulation operation model on the track simulation model according to the operation setting parameter data;
a graph group display step, namely generating and displaying a simulation operation graph group according to the real-time tramcar simulation operation model, wherein the simulation operation graph group comprises a logic circuit graph, and the logic circuit graph is generated according to the tramcar simulation operation model and the acquired geographic position data;
and a data table display step of generating and displaying a monitoring data table according to the acquired monitoring data group while executing the graph group display step.
2. The tram simulation running method according to claim 1, characterized in that:
the track solid model is in a shape of a surrounding runway.
3. The tram simulation running method according to claim 1, characterized in that:
the step of presetting the model is also included before the step of reading the model;
and in the step of presetting the model, generating a tramcar simulated operation model according to the model setting parameter data acquired from the interactive window, and storing the tramcar simulated operation model.
4. The tram simulation running method according to claim 3, characterized in that:
the model setting parameter data comprises station setting parameter data, power supply interval setting parameter data, monitoring point setting parameter data, traffic light setting parameter data and train setting parameter data.
5. The tram simulation running method according to claim 1, characterized in that:
in the step of displaying the graph group, the simulation operation graph group comprises a circulation route map, and the route of the circulation route map is in a shape of a surrounding runway.
6. The tram simulation running method according to claim 1, characterized in that:
in the step of displaying the graph group, the method further comprises the following steps:
displaying a prestored site map;
and judging whether the correlation photoelectric sensor acquires a station arrival induction signal of the tramcar entity model, and if so, displaying station arrival reminding information on the station point diagram according to the station arrival induction signal.
7. The tram simulation running method according to claim 6, characterized in that:
and displaying a plurality of site names and graphic symbols corresponding to each site name in the site diagram, wherein the arrival reminding information is the color value change of the graphic symbols.
8. The tram simulation run method according to any of claims 1 to 7, characterized in that:
in the simulation operation step, the operation setting parameter data comprises speed data, starting time data, starting delay data and acceleration and deceleration time data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910366433.1A CN110104036B (en) | 2019-05-05 | 2019-05-05 | Tramcar simulation operation system and tramcar simulation operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910366433.1A CN110104036B (en) | 2019-05-05 | 2019-05-05 | Tramcar simulation operation system and tramcar simulation operation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110104036A CN110104036A (en) | 2019-08-09 |
| CN110104036B true CN110104036B (en) | 2021-05-04 |
Family
ID=67488191
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910366433.1A Active CN110104036B (en) | 2019-05-05 | 2019-05-05 | Tramcar simulation operation system and tramcar simulation operation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110104036B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110675080A (en) * | 2019-09-30 | 2020-01-10 | 暨南大学 | Tramcar operation scheme generation method, evaluation method and generation system |
| CN110553864B (en) * | 2019-09-30 | 2022-03-29 | 暨南大学 | Tramcar simulation operation monitoring system |
| CN110672340B (en) * | 2019-09-30 | 2022-03-29 | 暨南大学 | Tramcar simulation operation monitoring method |
| CN112960016B (en) * | 2021-03-05 | 2023-04-18 | 国网北京市电力公司 | Non-invasive rail transit train operation situation sensing method and device |
| CN113065043B (en) * | 2021-04-26 | 2023-06-06 | 广州通达汽车电气股份有限公司 | Driving line checking method, device, equipment and storage medium |
| CN113844507B (en) * | 2021-10-22 | 2023-10-10 | 暨南大学 | Train simulation operation system construction method based on digital twin |
| CN113859327B (en) * | 2021-12-01 | 2022-03-22 | 通号工程局集团电气工程有限公司 | Railway signal track simulation test data analysis method, equipment and storage medium |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07132828A (en) * | 1993-11-11 | 1995-05-23 | Hitachi Ltd | Simulation system |
| CN104504986A (en) * | 2014-12-09 | 2015-04-08 | 柳州铁道职业技术学院 | Urban rail transit train positioning simulation system and simulation method employing same |
| CN104504985A (en) * | 2014-12-09 | 2015-04-08 | 柳州铁道职业技术学院 | Rail transit axle calculating simulation system and simulation method thereof |
| CN108891449B (en) * | 2018-05-31 | 2020-09-11 | 上海工程技术大学 | Subway operation real-time positioning tracking control simulation system based on wireless base station |
| CN109664921B (en) * | 2018-12-27 | 2020-09-04 | 交控科技股份有限公司 | VBTC multi-vehicle tracking safety verification method and system based on trackside simulator |
-
2019
- 2019-05-05 CN CN201910366433.1A patent/CN110104036B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110104036A (en) | 2019-08-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110104036B (en) | Tramcar simulation operation system and tramcar simulation operation method | |
| CN110641480B (en) | Automatic driving function pushing method and system based on traffic flow and vehicle | |
| CN106878934A (en) | A kind of display method for electronic map and device | |
| CN108645628A (en) | Autonomous driving vehicle based on driving path technical ability tests system | |
| CN206194137U (en) | Traffic signal lamp state reminder system | |
| CN103697900A (en) | Method for early warning on danger through augmented reality by vehicle-mounted emotional robot | |
| CN104284419A (en) | Indoor positioning and aided navigation method, device and system based on iBeacon | |
| CN107479532A (en) | The domain controller test system and method for a kind of intelligent automobile | |
| CN109491380A (en) | A kind of intelligent automobile Unmanned Systems and application method | |
| CN110197036A (en) | Intelligent driving evaluating system and evaluating method | |
| CN103065463B (en) | Traffic control simulation system and traffic control simulation method | |
| CN106340195A (en) | Traffic light state acquisition method and vehicle-mounted intelligent equipment | |
| CN106056974A (en) | Active safety early warning device based on vehicle infrastructure integration | |
| CN105264449A (en) | Method and device for displaying information of a system | |
| EP3147882A1 (en) | A system and a method for an intelligent transportation system | |
| CN205845328U (en) | Collaborative and the active safety prior-warning device of 4G network based on bus or train route | |
| CN103097227A (en) | Method for visualizing track occupation | |
| CN104482936A (en) | Cloud server for providing road condition information and device for displaying road condition information | |
| CN107747965A (en) | Information monitoring, analysis and the alarming device and method of bullet train indoor comfort degree | |
| CN101590865B (en) | Method for displaying transport facility and running position thereof | |
| JP6901915B2 (en) | Train approach warning system | |
| CN112781888A (en) | System and method for testing vehicle | |
| CN115659701B (en) | Verification method, device and storage medium for vehicle-road cooperative V2X application scene | |
| CN114427976A (en) | Test method, device and system for automatic driving vehicle | |
| JP5197511B2 (en) | Graphic providing information creation device and road information board display method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |